JP2022512172A - Spray vehicle - Google Patents

Abstract

The present invention relates to a spray vehicle (10) comprising a boom (20), a spray unit (30), first and second actuators (40,50), a plurality of sensors (60) and a processing unit (70). The boom is movably attached to the vehicle. The spray unit is attached to the boom. The spray unit sprays pollen and liquid chemicals. The first actuator moves the boom. The second actuator controls the spray unit. The sensor (61) measures the vehicle speed with respect to the ground. The sensor (62) measures the direction of air movement with respect to the vehicle. The sensor (63) measures the speed of movement of air with respect to the vehicle. The processing unit determines the direction of movement of air with respect to the ground and the speed of movement of air with respect to the ground. This determination includes the use of vehicle speed, the direction and speed of air movement relative to it. The processing unit controls the first and / or second actuator, which includes the use of the determined air travel direction and velocity with respect to the ground.

Description

The present invention relates to a spray vehicle capable of spraying a liquid or powder such as pollen or liquid chemicals.

Spray drift caused by winds and gusts is a major problem in agricultural production. Spray droplets drift into sensitive areas, to spectators, onto non-target surfaces such as on the surface of the water and on adjacent fields.

In addition, the spraying work of pollen and liquid chemicals is a component that produces plants for cultivation. For example, spraying pollen or liquid chemicals increases crop yields.

This issue needs to be addressed.

It would be advantageous to have a way to mitigate the effects of spray drift.

The object of the invention is settled by the subject matter of the independent claims, in which case further embodiments are incorporated in the dependent claims.
In one aspect
-At least one boom and
-Multiple spray units and
-At least one first actuator and
-With at least one second actuator,
-Multiple sensors and
-A spray vehicle with a processing unit is provided.

At least one boom is movably attached to the vehicle. Multiple spray units are mounted on at least one boom. Multiple spray units are configured to spray pollen or liquid chemicals. At least one first actuator is configured to move at least one boom. At least one second actuator is configured to control multiple spray units. At least one of the sensors is configured to measure the speed of the vehicle relative to the ground. At least one of the sensors is configured to measure the direction of air movement with respect to the vehicle. At least one of the sensors is configured to measure the speed of movement of air with respect to the vehicle. The processing unit is configured to determine the direction of movement of air with respect to the ground and to determine the speed of movement of air with respect to the ground. This determination includes the use of the speed of the vehicle, the direction of movement of air with respect to the vehicle, and the speed of movement of air with respect to the vehicle. The processing unit is also configured to control at least one first actuator and / or at least one second actuator. Control includes the use of the determined air movement direction with respect to the ground and the determined air movement speed with respect to the ground.

In this way, the effects of wind-induced drift of sprayed liquid can be mitigated by the movement of the spray boom and / or control of the spray unit itself, such mitigation of actual wind speed and direction. I'm considering it. Therefore, the vehicle can be sprayed closer to the edge of the field and / or closer to the sidewalk, or closer to the area that should not be sprayed, and / or the spraying operation is faster than currently achievable. It can be done at vehicle speed and at higher wind speeds.

In one example, the at least one first actuator is configured to move at least one boom vertically and the processing unit at least one first to move at least one boom vertically. It is configured to control the actuator.

Thus, in this way, the wind speed and / or the wind direction will result in more spray drift, eg, laterally perpendicular to the direction of travel of the spray vehicle, so that the increase in wind speed and / or the wind direction will result in the vehicle. The boom can be lowered if spray drift is expected to increase as a result of moving in a direction more perpendicular to the direction of movement of.

In one example, at least one of the sensors is configured to provide data capable of determining the height of at least one boom from the ground. The processing unit is configured to control at least one first actuator to position at least one boom at a height above the ground that depends on the magnitude of the determined air velocity to the ground. ..

In this way, even if the ground on either side of the spray vehicle is not flat and above the nominal ground level, spray in an ideal position to mitigate spray drift, taking into account wind speed. The boom can be positioned.

In one example, the processing unit has at least one first actuator such that it positions at least one boom at a height above the ground that depends on the magnitude of the azimuth angle of the air in the determined air movement direction with respect to the ground. Is configured to control.

In this way, the ideal position to mitigate spray drift, taking into account wind speed and direction, even if the ground on either side of the spray vehicle is not flat and above the nominal ground level. The spray boom can be positioned.

In one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

In one example, the height above the ground where at least one boom is positioned is calculated based on the speed of movement of the air relative to the ground multiplied by the cosine of the azimuth of the air.

In other words, the effects of crosswinds or wind components of spray drift perpendicular to the vehicle's forward direction can be mitigated by proper control of the height of the spray boom and / or control of the spray unit itself.

In one example, the processing unit has at least one first so as to move at least one boom downwards when the magnitude of the determined air velocity to the ground exceeds one or more thresholds. It is configured to control the actuator.

In this way, the spraying operation can be continued in the configured way until the wind speed exceeds the configured magnitude, after which corrective action is taken for such situations where spray drift can be a problem. be able to. This saves energy, reduces component wear, and reduces the possibility of hunting, where the system may continually seek optimal settings, as the boom is moved only when needed.

In one example, one or more thresholds depend on the magnitude of the air direction angle, which is the determined direction of air movement with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground. The angle between.

In one example, one or more thresholds are multiple thresholds, and a particular threshold of the multiple thresholds is calculated based on the set air velocity multiplied by the cosine of the air direction angle.

In one example, multiple spray units are movably mounted on at least one boom, and at least one of the sensors provides data that can determine the angle of the multiple spray units with respect to the vertical axis. It is configured to do. The at least one second actuator comprises at least one first rotator actuator configured to rotate the plurality of spray units by at least one rotation angle with respect to the vertical axis. The processing unit is configured to control one or more of at least one first rotator actuators to rotate one or more of the plurality of spray units.

In this way, the spray unit can be angled to spray slightly upwind to mitigate wind speeds and directions that would otherwise cause spray drift.

In one example, the horizontal axis extends perpendicular to the vehicle's anterior-posterior axis and perpendicular to the vertical axis, with at least one of the sensors extending relative to the horizontal axis. It is configured to provide data that can determine the angles of multiple spray units. The at least one second actuator comprises at least one second rotator actuator configured to rotate the plurality of spray units by at least one rotation angle with respect to the horizontal axis. The processing unit is configured to control one or more of at least one second rotator actuator to rotate one or more of the plurality of spray units.

In one example, the processing unit is configured to control a plurality of first rotator actuators to hold an equivalent number of spray units at different rotation angles with respect to the vertical axis.

In one example, the control of multiple first rotator actuators depends on the position of an equivalent number of spray units on at least one boom.

Therefore, the spray unit on the outer edge of the boom, which can be closer to the edge of the field, can be further angled upwind to mitigate the spray drift, while on the other end of the boom, or on the other side of the vehicle. The spray unit at the other end of the boom does not need to be angled to the same extent as the spray from the spray unit is unlikely to cross the boundaries of the fields.

In one example, the processing unit is configured to control a plurality of second rotator actuators to hold the same number of spray units at the same time at different rotation angles with respect to the horizontal axis.

In one example, the control of multiple second rotator actuators depends on the position of an equivalent number of spray units on at least one boom.

In one example, the processing unit simultaneously rotates a plurality of spray units by the same rotation angle with respect to the vertical axis and / or the horizontal axis, so that the processing unit rotates at least one first rotator actuator and / or at least one second. It is configured to control the rotary actuator of.

In one example, the control of at least one second actuator by the processing unit involves utilizing the magnitude of the determined air velocity to the ground.

In one example, the control of at least one second actuator by the processing unit involves the use of the magnitude of the air azimuth in the determined air movement direction with respect to the ground.

In one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

In one example, at least one rotation angle with respect to the vertical axis is at least to some extent based on the speed of movement of the air with respect to the ground multiplied by the cosine of the azimuth of the air.

In one example, at least one second actuator is configured to start spraying pollen or liquid chemicals by multiple spraying units and stop spraying pollen or liquid chemicals by multiple spraying units. It is equipped with at least one actuating actuator configured in.

In one example, the processing unit operates at least one such that an equivalent number of spraying units stop spraying pollen or liquid chemicals, at least to some extent, based on the magnitude of the determined air movement rate to the ground. It is configured to control one or more of the actuators.

In this way, if the combination of wind speed and its direction results in a situation where spraying from one or more spraying units can cause problematic spray drift, those units can be turned off. can. So, for example, a spray vehicle can operate at the edge of a field and turn off those spray units from gusts that cause spray from one or two outer spray units to cross the boundaries of the field. It can be alleviated by this.

In one example, the processing unit is such that an equivalent number of spray units stop spraying pollen or liquid chemicals, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. , Configured to control one or more of at least one actuating actuator.

In one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

In one example, the determination that the spray unit stops spraying is at least to some extent based on the speed of movement of the air relative to the ground multiplied by the cosine of the azimuth of the air.

In one example, the at least one second actuator comprises at least one spray conditioning actuator configured to control the size of the pollen or liquid chemical droplets sprayed by multiple spray units.

In one example, the processing unit controls at least the size of the pollen or liquid chemical droplets sprayed by an equivalent number of spraying units, at least to some extent based on the magnitude of the determined air movement rate to the ground. It is configured to control one or more of one spray adjustment actuator.

In one example, the processing unit is configured to increase the droplet size based on the increased magnitude of the determined air movement velocity relative to the ground.

In this way, the wind speed and / or direction can result in a otherwise problematic spray drift, so the size of the sprayed droplets can be increased to mitigate the spray drift, which is more. This is because large spray droplets are less susceptible to drift than smaller spray droplets.

In one example, the processing unit controls the size of droplets of pollen or liquid chemical sprayed by an equivalent number of spray units, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. As such, it is configured to control one or more of at least one spray conditioning actuator.

In one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

In one example, the droplet size is determined at least to some extent by multiplying the speed of movement of the air with respect to the ground by the cosine of the azimuth of the air.

It would be even more beneficial to mitigate the effects of downwash from vehicles such as aircraft, while also providing means for interfering with certain objects such as plants.

In one example, a boom is provided that extends below the vehicle's downwash, while allowing the boom to come into contact with an object. The boom allows spraying on the object while reducing the risk of the vehicle getting entangled with the object and damaging it.

In one example, the boom is set to a length that extends out of the vehicle's downwash. In addition, the boom can move both horizontally and vertically in its path from the vehicle.

In one example, the vehicle can be an altitude measuring sensor located on the vehicle to determine the height of the object relative to the vehicle or boom.

In one example, the boom can be either rigid or flexible. The boom can also have multiple components, one portion rigid and the other flexible. The boom may also have a rod that helps keep the boom stable in its position. The boom can also have a connection that allows the rod to be bent as needed.

In one example, the boom can have braces on the sides of the boom that act to stabilize the boom against the vehicle. These braces are made of rigid material and can be operated by actuators. The brace is also made of wire and can act to affect the boom by using an electric wrench. Sensors can also be mounted at multiple locations on the boom to provide information about where the boom is relative to the vehicle.

In one example, a container is attached to the vehicle that contains pollen or liquid chemicals that can be transferred from the container by a number of different methods.

In one example, there are several different techniques that can be used for spraying pollen or liquid chemicals, including spray sprays and electrostatic sprays.

In one example, the boom outlet can be a plurality of different outlets as compared to a single exit.

In one example, the application of pollen or liquid chemicals may be carried out via a lower component suspended below the vehicle on a wire. The lower component can also have a boom attached to it.

In one example, liquid pollen or liquid chemicals can be sprayed using a string, and the liquid will flow down the string to the place for spraying. This may also be done with a looped cord, where the wire is moved through the vehicle by a motor to increase the flow rate of the liquid applied to the cord.

In one example, the vehicle may be able to use an imaging system to identify objects spraying pollen or liquid chemicals. The imaging system may be able to detect specific areas of the object, such as specific components of the plant for spraying. The imaging system may be further assisted by a system such as a neural network to identify the components of the object for dispersal. In one example, the system, including the imaging system, identifies the location of the plant and sets up a timing sequence for spraying along the row of plants.

In one example, the transfer of pollen or liquid chemicals from a container on a vehicle comprises a weighing system capable of measuring the amount of substance transferred from the container. This measurement may be made by several different possible techniques.

The above embodiments and examples will be apparent from the embodiments described below and will be described with reference to the embodiments described below.

An exemplary embodiment will be described below with reference to the following drawings.

It is a figure which shows the schematic structure of an example of a spray vehicle. It is a figure which shows the schematic example of the plan view of the spray vehicle. It is a figure which shows the schematic structure of an example of a spraying unit attached to a boom. It is a figure which shows the schematic structure of an example of a spraying unit attached to a boom. It is a figure which shows one embodiment of the spray vehicle which has a boom for downwash and reduction of damage. It is a figure which shows one Embodiment that a boom traverses a horizontal direction and a vertical direction. It is a figure which shows one Embodiment which has a rod which supports a boom. FIG. 5 shows a boom with two separate sections, both flexible and rigid. FIG. 3 illustrates an embodiment in which a boom is supported by a rod or wire having a corresponding actuator or wrench. It is a figure which shows one embodiment in which a boom is moved by an actuator or a wrench. It is a figure which shows the atomizer attached to the end of a boom. It is a figure which shows that the static charge is applied along the boom. It is a figure which shows a plurality of outlets at the end of a boom. It is a figure which shows a plurality of exits extending from a central boom. It is a figure which shows the attachment with the guide of the end of a boom. It is a figure which shows the boom which has a plurality of outlets including a guided attachment. It is a figure which shows one Embodiment of the guided attachment on the object. It is a figure which shows one Embodiment of the lower spraying component. It is a figure which shows one Embodiment of the lower spraying component which has a plurality of outlets. It is a figure which shows one Embodiment of the fine string of pollen. It is a figure which shows one embodiment of the pollen fine string as a loop. It is a figure which shows one Embodiment of the fine string of a plurality of pollen. It is a figure which shows one Embodiment which has a measuring apparatus and an image pickup apparatus.

Boom for spraying pollen or liquid chemicals with wind drift in mind Figure 1 shows an example of a spray vehicle 10, where essential features are represented by solid lines and optional features are represented by dashed lines. The spray vehicle comprises at least one boom 20, multiple spray units 30, at least one first actuator 40, at least one second actuator 50, multiple sensors 60, and a processing unit 70. .. At least one boom is movably attached to the vehicle. Multiple spray units are mounted on at least one boom. Multiple spray units are configured to spray pollen or liquid chemicals. At least one first actuator is configured to move at least one boom. At least one second actuator is configured to control multiple spray units. At least one of the sensors 61 is configured to measure the speed of the vehicle relative to the ground. At least one of the sensors 62 is configured to measure the direction of air movement with respect to the vehicle. At least one of the sensors 63 is configured to measure the speed of movement of air with respect to the vehicle. The processing unit is configured to determine the direction of movement of air with respect to the ground and to determine the speed of movement of air with respect to the ground. Determining the direction of movement of air with respect to the ground and the speed of movement of air with respect to the ground includes the use of the speed of the vehicle, the direction of movement of air with respect to the vehicle, and the speed of movement of air with respect to the vehicle. The processing unit is also configured to control at least one first actuator and / or at least one second actuator. Control of the at least one first actuator and / or at least one second actuator includes the use of the determined air movement direction with respect to the ground and the determined air movement speed with respect to the ground.
In one example, at least one sensor 61 configured to measure the speed of the vehicle relative to the ground comprises a GPS system.

In one example, at least one sensor 61 configured to measure the speed of the vehicle relative to the ground comprises a laser reflectance based system.

In one example, at least one sensor 61 configured to measure the speed of the vehicle relative to the ground comprises a system coupled to the vehicle's transmission.
In one example, at least one sensor 62 configured to measure the direction of movement of air with respect to the vehicle comprises a weather vane.

In one example, at least one sensor 63 configured to measure the rate of movement of air with respect to the vehicle comprises an anemometer.

As an example, at least one first actuator is configured to move at least one boom vertically, and a processing unit has at least one first to move at least one boom vertically. It is configured to control the actuator of.

As an example, at least one of the sensors 64 is configured to provide data capable of determining the height of at least one boom from the ground. The processing unit is configured to control at least one first actuator to position at least one boom at a height above the ground that depends on the magnitude of the determined air velocity to the ground. ..

In one example, the sensor used to determine height is a radar sensor.

In one example, the sensor used to determine the height is a laser flight time sensor.

In one example, the sensor used to determine the height is a sensor that determines the position of the boom relative to the end stop and calculates the height from the ground from the position of the boom relative to the vehicle, assuming the ground is flat. be.

According to one example, the processing unit has at least one first so as to position at least one boom at a height above the ground that depends on the magnitude of the azimuth angle of the air in the determined air movement direction with respect to the ground. It is configured to control the actuator.

According to one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

According to one example, the height above the ground where at least one boom is positioned is calculated based on the speed of movement of the air with respect to the ground multiplied by the cosine of the azimuth of the air.

As an example, the processing unit has at least one first so as to move at least one boom downwards when the magnitude of the determined air velocity to the ground exceeds one or more thresholds. It is configured to control the actuator of.

According to one example, one or more thresholds depend on the magnitude of the azimuth of the air. The azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

According to one example, one or more thresholds are multiple thresholds. A specific threshold value among the plurality of threshold values is calculated based on the value obtained by multiplying the set moving speed of air by the cosine of the azimuth angle of air.

According to one example, multiple spray units are movably mounted on at least one boom, and at least one of the sensors 65 can determine the angle of the multiple spray units with respect to the vertical axis. Is configured to provide. The at least one second actuator 50 comprises at least one first rotator actuator 52 configured to rotate the plurality of spray units by at least one rotation angle with respect to the vertical axis. The processing unit is configured to control one or more of at least one first rotator actuators to rotate one or more of the plurality of spray units.

According to one example, the horizontal axis extends in a direction perpendicular to the anterior-posterior axis of the vehicle and in a direction perpendicular to the vertical axis. At least one of the plurality of sensors 66 is configured to provide data capable of determining the angles of the plurality of spray units with respect to the horizontal axis. The at least one second actuator 50 comprises at least one second rotator actuator 54 configured to rotate the plurality of spray units by at least one rotation angle with respect to the horizontal axis. The processing unit is configured to control one or more of at least one second rotator actuator to rotate one or more of the plurality of spray units.

According to one example, the processing unit is configured to control a plurality of first rotator actuators to hold an equivalent number of spray units at different rotation angles with respect to the vertical axis.

According to one example, the control of the plurality of first rotator actuators depends on the position of an equivalent number of spray units on at least one boom.

According to one example, the processing unit is configured to control a plurality of second rotator actuators to hold the same number of spray units at the same time at different rotation angles with respect to the horizontal axis.

According to one example, the control of multiple second rotator actuators depends on the position of an equivalent number of spray units on at least one boom.

According to one example, the processing unit may rotate at least one first rotator actuator and / or at least one first so as to simultaneously rotate a plurality of spray units by the same rotation angle with respect to the vertical axis and / or the horizontal axis. It is configured to control 2 rotating actuators.

As an example, the control of at least one second actuator by the processing unit involves the use of the magnitude of the determined air movement velocity with respect to the ground.

As an example, the control of at least one second actuator by the processing unit involves the use of the magnitude of the air azimuth in the determined air travel direction with respect to the ground.

According to one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

According to one example, at least one angle of rotation with respect to the vertical axis is at least to some extent based on the speed of movement of air with respect to the ground multiplied by the cosine of the azimuth of air.

As an example, at least one second actuator is configured to initiate multiple spray units spraying pollen or liquid chemicals and stop multiple spray units from spraying pollen or liquid chemicals. It comprises at least one actuating actuator 56 configured as such.

As an example, the processing unit operates at least one to stop an equivalent number of spraying units from spraying pollen or liquid chemicals, at least to some extent, based on the magnitude of the determined air movement rate to the ground. It is configured to control one or more of the actuators.

According to one example, the processing unit should stop spraying pollen or liquid chemicals from an equivalent number of spray units, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. Is configured to control one or more of at least one actuating actuator.

According to one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

In one example, the determination that the spray unit stops spraying is at least to some extent based on the speed of movement of the air relative to the ground multiplied by the cosine of the azimuth of the air.

As an example, the at least one second actuator comprises at least one spray conditioning actuator 58 configured to control the size of the pollen or liquid chemical droplets sprayed by multiple spray units.

As an example, the processing unit controls the size of the pollen or liquid chemical droplets sprayed by an equivalent number of spraying units, at least to some extent, based on the magnitude of the determined air movement rate to the ground. It is configured to control one or more of at least one spray conditioning actuator.

According to one example, the processing unit is configured to increase the droplet size based on the increased magnitude of the determined air movement velocity relative to the ground.

According to one example, the processing unit measures the size of the droplets of pollen or liquid chemicals sprayed by an equivalent number of spraying units, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. To control, it is configured to control one or more of at least one spray conditioning actuator.

According to one example, the azimuth of air is the angle between the determined direction of movement of air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground.

According to one example, the droplet size is determined at least to some extent by multiplying the speed of movement of the air with respect to the ground by the cosine of the azimuth of the air.

FIG. 2 shows a plan view of an exemplary vehicle 10 moving and spraying through a field. For simplicity of expression, spray booms extending on both sides of the vehicle are not shown. The vehicle is moving at a speed V _S and the wind is blowing at a speed V A _G in a particular direction. The vehicle has an anemometer and an anemometer to determine both the wind direction and the wind speed for the vehicle, in other words, as if the vehicle were stationary. Due to vehicle movement, both measured wind directions and speeds are distorted from their true ground-based values, as shown. However, vector-based analysis can be used to determine the actual ground-based wind direction and velocity. The vehicle's processing unit can then move the spray boom downwards if the wind is too strong and that direction results in lateral drift, and / or the processing unit controls the spray unit itself to drift. You can spray larger droplets that are less susceptible to the effects of, or tilt the spray unit in the direction of the wind.

Figure 3 schematically illustrates one of these situations. In the image above, here the wind speed for the component blowing perpendicular to the forward direction of the vehicle is V _AG1 , and the processing unit has been determined that the spraying operation is optimized and at the same time the effect of drift is not an issue. Controls multiple or one actuator suitable to hold the spray boom at a distance above the ground equal to H ₁ .

However, the wind is sudden in terms of changes in wind speed and / or direction, where the component of wind speed perpendicular to the forward direction increases to the value V _{AG 2} . In this example, the processing unit mitigates the effects of otherwise occurring drift by lowering the spray boom to a height H ₂ where it is determined that drift is unlikely to occur. This is because the spray droplet travels a shorter distance before reaching the target to be sprayed, and drift is less likely to occur.

Figure 4 schematically illustrates another one of these situations. In the image above, the wind speed for the component blowing perpendicular to the forward direction of the vehicle is V _AG , and the processing unit is suitable to hold the spray unit at a constant angle in the direction of the wind. Controls an actuator or one actuator. The spray then moves upwind, creating an arc that is then blown downwind, and the overall lateral drift is less than would have occurred if the spray unit simply sprayed downwards. Become. In the lower image, the vehicle is sprayed on the border of the fields and the crosswind component is similar to that shown in the upper image. A representative spray unit is shown, the leftmost spray unit is shown, and any inner spray unit of that unit and the two rightmost spray units closest to the field boundary are shown. There is. The processing unit determines that there is no problem with spray drift from the leftmost spray unit, so that the spray unit is controlled to spray downwards. As it moves inward, the processing unit controls the appropriate actuator so that the different spray units are gradually angled by increasing the angle to spray more in the direction of the wind. Although several spray units are shown angled by the same amount, they may be angled by different amounts. In addition, the processing unit determined that due to the unique magnitude of the crosswind velocity at this time, there was a danger that spraying from the two spraying units at the right end of the boom would cross the boundaries of the fields, and the processing unit decided. , The actuator is controlled to turn off these spray units.

The situation represented in FIGS. 3-4 is that the boom can be raised or lowered as needed, while at the same time the spray unit is angled in the direction of the wind and turned off as needed. Note that it can happen at the same time. Droplets can also be resized using actuators, which causes the processing unit to drift when the wind speed increases and / or the wind direction changes in a direction where drift can be an issue. The droplet size of the spray can be increased to alleviate the problem.

A boom embodiment for downwashing or spraying pollen or liquid chemicals to reduce damage is a vehicle specifically designed to have the ability to fly and in some cases use a rotor to achieve flight. Note that it is designed to reduce downwash or damage to. These embodiments should not be limited to be understood as only the rotor being described, as other forms of transport may generate a downward force of air movement due to their operation. Should be applicable to any vehicle.

In the following embodiments, pollen or liquid chemicals can be sprayed downward from the container to the plant via the boom 20 of FIG. 5 without being affected by the downward force of the vehicle rotor, also referred to as downwash. The boom 20 can also provide the advantage of allowing the vehicle to apply directly to selected parts of the plant, while reducing the risk of the vehicle and its rotor interfering with the plant. .. For example, application of pollen or liquid chemicals can benefit by delivering it in a concentrated amount to a small infected area or pollen receiving area. Providing a particular delivery to a plant poses the risk that the vehicle will interfere with the vehicle's movement by interfering with the leaves, stems, and other parts of the plant that hang from unexpected angles or point upwards. For example, the delicate nature of a vehicle in flight makes it difficult because such mutual interference can lead to damage, or the suspension of spraying or spraying operations on the fields.

The boom is best set to a length of 71 for sufficient spraying without being affected by the downward force of air caused by the rotor of the vehicle. This length can be such that the downward force of the air from the rotor is sufficiently reduced so that the air does not interfere with its movement as pollen or liquid chemicals exit the boom. The boom length 71 can also be set to a shorter length where the downward force does not substantially impair the spraying of pollen or liquid chemicals from the boom, and this shortened length optimizes spraying. This may be done if a small amount of downward air is used from the vehicle rotor.

In one embodiment, as mentioned in the drift above, the first boom 72 is, as shown in FIG. 6, one direction away from the vehicle on the horizontal axis 73 and the other direction away from the vehicle on the vertical axis 74. Set to cross in two directions. In an ideal embodiment of this embodiment, the horizontal or vertical movement of the boom allows spraying or spraying without being affected by the downwash of the vehicle. The horizontal direction of the boom can be any size within the range 75 from 45 degrees directly below the vehicle (45 °) to directly parallel to the horizontal axis of the vehicle. Further, the vertical direction of the boom can be any size within the range 76 from 90 degrees directly below the vehicle to within 45 degrees (45 °) between the vertical and horizontal axes. The boom position can also be reversed with the boom traversing vertically and then horizontally outwards. In another embodiment, the first boom 72 may be such that it curves from the vehicle along the horizontal and vertical axes.

In one embodiment, the movement of the boom 20 on the vertical axis can be set in relation to the altimeter reading that measures the height of the vehicle. This height can also be set by a camera, lidar, or a series of cameras to determine the possible height of the vehicle in relation to the height of the plant for spraying or spraying pollen or liquid chemicals.

The boom 20 can be made of either a rigid material or a flexible material. In an ideal embodiment, the material does not impede the flow of pollen or liquid chemicals through the boom due to being bent, twisted or obstructed by a non-smooth wall. The material should also be lightweight so that the overall weight of the system is reduced. In one embodiment, the boom is created with a plurality of segments that can slide inward to each other in order to extend or shorten the length of the pipe. In another embodiment, the boom is made of a material that can be rolled or folded to extend or shorten the length of the boom. One example is a flexible ventilation tube that can be shortened or extended in the same way as a bellows tube. Flexible tubing allows the tubing to come into contact with the plant without translating the force back into the vehicle, or at least reduce the direct force exerted on the vehicle, thus moving the vehicle. It offers the advantage of allowing the vehicle to provide an exit near the plant, reducing the risk of obstruction. In one embodiment, the boom 20 is made of a flexible material and, as shown in FIG. 7, has a rigid component such as a rod 77 or staff that can keep the boom 20 relatively stable during flight. Can have. This rigid component can also bend or bend on it, thereby allowing the connection 78 to avoid disrupting the vehicle's flight path when the boom comes into contact with the plant. Can have. In another embodiment, the rod 77 can move along the length of the boom 20 extending along the boom 20 to provide variable stability in different situations. In another embodiment, the boom has a rigid component in which the upper component of the boom is rigid 79, while the lower component of the boom is flexible 80, as shown in FIG. be able to. This allows the top component of the pipe to allow the boom to maintain stability and placement under the vehicle, while the flexible component of the pipe interferes with the plant and into the vehicle. It can be potentially useful if it is possible to provide high specificity to the delivery site without the risk of exerting a lateral force on it.

In one embodiment, the boom 20 is maintained in a particular position with respect to the vehicle via one or more braces 81 connecting the vehicle to the boom, as shown in FIG. In a preferred embodiment, the brace 81 is attached to the boom 20 at a particular angle with respect to the boom 20, for example the brace 81 is positioned on the outer edge of the vehicle. The boom 20 may additionally be positioned in a particular direction by one actuator 82 or multiple actuators 82 connected to the boom 20 or brace 81. The actuator 82 can also act to direct the boom 20 away from the vehicle toward a source such as a plant shown in FIG. If the boom 20 is moved through the brace 81, the boom 20 may have a sliding ring (not shown) on the boom 20 that allows the brace to be rigid. The brace 81 may also be extended by hydraulic pressure, potentially eliminating the need for sliding rings. In one embodiment, the component that moves the boom may include a wire instead of a brace. The wire can be extended and retracted by the movement of an electric wrench that retracts on one side and extends on the other side. In one embodiment, control of the boom 20 around the vehicle by a brace 81 or wire comprises at least three braces or wires having a corresponding actuator or electric wrench. In a preferred embodiment, control around the vehicle is via four braces 81 or wires with corresponding actuators or electric wrenches. In this embodiment, the brace can extend to the lower components of the boom 20 or may extend to the intermediate region of the boom 20. The boom 20 can consist of a top 83 and a bottom 84. The top boom 83 can be articulated in a different direction than the bottom boom 84. Moreover, as pointed out earlier, the bottom boom 84 can be made of a flexible material. In one embodiment, the position of the boom 20 with respect to the vehicle may be monitored via a position sensor 85 or a sensor on the boom 20. In a preferred embodiment, the position of the boom 20 with respect to the vehicle can be indicated by the position sensor 85 at the point where the brace 81 or wire connects to the boom 20. In another preferred embodiment, the sensor 85 is a top boom 83.
And the bottom boom 84 can be placed at the intersection, and another sensor 85 can be placed where the bottom boom 84 is applied to the source or plant.

The boom can transfer pollen or liquid chemicals from the storage container through the use of gravity, augers, fans, compressed air, belts, or through a sieve (not shown). The boom may also simply transfer material under the boom through the movement of a vehicle that may allow the material to be moved downwards in the same way that it is swung out of the boom. In this way, the vehicle moves the boom, or shakes it out of a pollen or liquid chemical container, and passes through the boom, for example, when it is smoothly moved in a particular pattern, such as a circular pattern. Can be moved smoothly with. Pollen or liquid chemicals are weighed into the boom by a sieve, valve, auger, or other weighing system, allowing only a divided amount to enter the boom. The lower part of the boom can also have a valve to measure the spray from the boom.

The boom can have various widths in the overall diameter of the boom, as well as the inner and outer diameters of the boom itself. In embodiments that use dry particulate matter, the boom must be wide enough to allow the flow of dry particulate matter through the boom.

Spraying can also be done in conjunction with electrostatic components. This may be in the form of an electrostatic nebulizer 86 at the lower end of the boom, as shown in FIG. This can be in the form of a component that provides an electrostatic charge 87 before being sprayed, such as at the outlet of a reservoir before being transported to the boom, as shown in FIG. The static charge potential difference can promote a net attraction between the substance and the plant, eg, between the pollen grains and the plant. Static charges can be applied when pollen or liquid chemicals exit the boom or immediately after the storage outlet to prevent material from adhering to the inner wall of the boom.

The boom 20 can also have a plurality of outlets 88 at its base, as in FIG. 13, in one embodiment. These plurality of outlets 88 can be arranged in such a way as to allow spraying of different areas of a single plant, or in such a way as to allow spraying of multiple plants at one time. Multiple nozzles can also be used to spread pollen or liquid chemicals in a spherical pattern to adapt to the random properties of silk. In another embodiment, the vehicle has a boom 20 with outlets 89 available in the section around the center of the lower part of the vehicle, for example there may be 6 outlets as in FIG. These outlets are derived from the central boom 90 to which pollen or liquid chemicals are supplied. The boom 20 can have components capable of supplying pollen or liquid chemicals to any of a plurality of different areas around the vehicle. For example, if the boom has multiple outlets that provide one exit within one range around the vehicle when viewed from above the vehicle, then the vehicle is any around the plant through the boom. The vehicle itself can be oriented onto the plant with the ability to distribute pollen or liquid chemicals to the points. This can be beneficial as it allows the application of pollen or liquid chemicals around the plant without the need for control of any form of orientation with respect to the end of the boom. Instead, the end of the boom is available and can be directed at the receiving component of the plant.

Further, in one embodiment, the boom 20 can use the guided attachment 91 as part of the sprayer shown in FIG. The guided attachment may have a conical shape that can surround the area of application. This attachment can be placed on an object and sprayed to ensure the dose of liquid received only on that part of the object. Guided attachments can also include sensors (not shown) that can signal when an object to be sprayed is in a predetermined position under the guided attachment 91. The boom 20 can be set to extend vertically downwards and then horizontally outwards so that it reaches the correct placement on the object to be sprayed, as shown in FIG. Guided attachments can then be used on the horizontal components of the boom to be applied to the object. Guided attachments can be in a variety of different shapes so that the object to be sprayed is captured by the guided attachment, and a guide with a curved body to wrap the object and provide condensed spraying to the object. See FIG. 17 for preferred embodiments of the design of the attachment 91.

Lower Dispersion Component In one embodiment, the vehicle dispersal component may be a separate system maintained at a specific distance under the vehicle, as shown in FIG. This component can be connected to the vehicle via a wire or cable 92 that allows the spray component to be below the vehicle's downwash for the reasons pointed out above. This lower spraying component 93 can include both a spraying system and a container. The lower spray component can be designed with a sprayer in the form of a boom 94 extending from the lower spray component 93. The spraying component may also be in another form, such as a spray nozzle, including but not limited to an electrostatic sprayer, or any other form of spraying. One example is simply the central spraying system 95, which is capable of dispersing material in multiple outlet booms 96 shown in FIG. In one embodiment, the central spraying system 95 can be sprayed along a circular path around the vehicle and the shape of the central spraying system 95 is circular. In this embodiment, the vehicle can be centered on the plant and pollen or liquid chemicals can be sprayed on specific parts of the circle, or around the entire circle, or the interior area of the circle. It may be sprayed all over. Spraying can be done by simply depositing from the central spraying system 95, or spraying can also be done via the outlet boom 96. Note that this may be done in any number of shapes of the central spray system 95. In one embodiment, the pollen or liquid chemical is distributed in the form of a granular ring (not shown). This can be achieved in the form of spraying components similar to granular rings for spraying seeds, or other substances related to agriculture or lawn mowing. Another embodiment of the spraying system from the lower spraying component 93 can include a spray powder in a gas stream of either air or nitrogen. In another embodiment, the lower portion of the vehicle may be sprayed with pollen or liquid chemicals via a separate propeller or a small turbine capable of delivering pollen or liquid chemicals in a particular direction.

In a preferred embodiment, the inferior spraying component can have the ability to determine its height from the ground in the same manner as described throughout this application. The vehicle can optionally have a similar height measuring system to provide means to provide more accurate height levels for the vehicle and the inferior components. The lower dispersal component 93 can communicate with the vehicle, which can power the lower component via the wire 92. One advantage of the lower spraying component 93 is the ability to quickly take pollen or liquid chemicals from the container into the plant compared to moving through the boom 20.

Distributing Liquid Pollen or Liquid Chemicals If the vehicle is spraying pollen or chemicals in liquid form, the vehicle can have specific components to facilitate delivery of the liquid. The liquid can be applied to the plant in a stream or atomized spray using any penetration of the spray nozzle. The liquid delivery system can be carried out by any of the aforementioned methods of boom 20. In embodiments where only the liquid is sprayed, the boom 20 may be of a much smaller width capable of spraying the liquid without blocking the boom 20 or obstructing the flow of the liquid.

In one embodiment, the liquid can be sprayed by depositing on a string 97 that hangs down the vehicle, as shown in FIG. The string 97 can be made of a strong or durable material such as Teflon®. The string 97 allows the liquid to slowly descend the length of the string 97 and transfer the liquid from the container to the end of the string 97. At the end of the string 97, the liquid may be applied directly to the plant, or it may separate from the string 97 and fall onto the plant by gravity. The technique of sprinkling string 97 can also be achieved from the operation of string 97 running in loop 98 shown in FIG. 21 or connected on a drag line (not shown). This loop 98 or drag line passes through a specific area where the string can come into contact with the liquid in the storage vessel and then be carried along its path to a lower point, thereby coming into contact with the plant. It is possible to move the cord into a circular style that allows it to circulate. There may be multiple different thongs 99 (shown in Figure 22) from a given vehicle, reducing the need for specific targeting, or without the need for any targeting of pollen receiving components. In addition, the probability of contact with plants can be increased. Multiple laces 99 may be used to apply to multiple plants. Although not shown, there may be multiple loops 98.

Imaging-based and timing-based pollen or liquid chemical spraying Pollen or liquid chemical spraying can be based on the use of sensors to identify specific plants. This can be done by a camera or imaging system 100 capable of identifying plants from above the vehicle, shown in FIG. This can also be done by using a particular type of plant, or spectroscopic features associated with a particular region of the plant. Once the plant or plant component has been identified, pollen or liquid chemicals can be applied to the plant. In a preferred embodiment, this application is carried out in such a way that pollen or liquid chemicals are applied to a specific area on the target plant. It should be noted that this system ideally targets the plant by examining the entire plant, but it can also locate specific parts of the plant or its components. Further analysis of the plant can be performed by software associated with the imaging system 100, which is the best estimate of the radius at which a particular area may be located for targeting on the plant. A value can be provided. The imaging system adjusts the height and angle of the spray. This estimated radius is then used to determine the amount of pollen or liquid chemicals to be sprayed, and the amount weighed through the vehicle, as well as the amount of force used when spraying from the boom or sprayer. It can be adjusted to increase or decrease the radius of the spray area.

In addition, by using a system such as deep learning using an artificial neural network, the ability to determine a specific area of a plant for spraying can be enhanced. It can use images showing the plant and showing specific areas of the plant for targeting. These images can be used to train artificial neural networks to improve their ability to target specific areas on the plant.

In another embodiment, pollen or liquid chemicals can be sprayed in one direction or in a row, and the spraying is completed in a continuous flow or in a weighed amount based on a timing sequence. When based on timing sequences, spraying can be based on known distances between each plant. For example, plants may be planted in rows 30 inches apart. The algorithm can be written to take into account the speed of the vehicle and then set the vehicle to be sprayed at the time it is sprayed on each plant. In another embodiment, the spraying may be a combination of a sensor for detecting the plant and a timing sequence of the spraying. Sensors can align the vehicle to a plant, move towards the next plant, such as a crop line, distribute based on a timing sequence, and where the vehicle is not sprayed in the correct area. A detection mechanism is also used to indicate.

Measuring device In one embodiment, the pollen or liquid chemical to be distributed is monitored via the measuring or measuring device 101 shown in FIG. A measuring device can be used to measure the flow of material from the container 102 through the boom 20. The measuring device 101 may be performed using an auger, a flow rate sensor, or an image pickup device capable of measuring the size of particles by optical character recognition. can. This can also be done by the use of certain graduations that can measure the weight of a particular area of the pipe or the output portion of the pipe.

The measuring device can provide feedback on the amount of pollen or liquid chemicals being distributed when the vehicle is in use. This information can be sent to an external computer or may be stored in the vehicle for later delivery to the external computer. In one embodiment, the measuring device can provide grams / second being delivered for spraying. In another embodiment, the output of the measuring device is connected to a software system that can take the measurements and output them to a system that can be used for further analysis of the distributed system.

Description of the Invention The present invention includes a vehicle comprising a container capable of carrying a substance and at least one boom capable of being sprayed onto an object receiving the substance, wherein the boom is a downward direction of air caused by the vehicle. It is long enough to extend beyond force. At least one boom is a vehicle according to this embodiment that is vertically adjustable. At least one boom is a vehicle according to this embodiment that can be expanded and contracted away from the vehicle. The boom is a vehicle according to the present embodiment, which is made of a material that can be folded or wound so as to allow expansion and contraction of the boom. The vehicle according to the present embodiment, in which the expansion and contraction of the boom is performed by a plurality of segments of at least one boom that slides with respect to each other. Vehicles according to this embodiment, wherein the plurality of segments of at least one boom are made of a rigid material. At least one boom is a vehicle according to the present embodiment, which comprises a rigid component and a flexible component. The vehicle according to the present embodiment, wherein the at least one boom is a flexible material and has a rod fixed to at least one boom, which provides stability to all or part of the flexible boom. The vehicle according to the present embodiment, wherein the at least one boom is a flexible material and has a rod that can move along the length of the boom that provides stability. At least one boom is a flexible material, the rod extends along the boom to provide stability, and the rod is a connection that allows the rod to bend when pressure is applied to the rod. A vehicle according to the present embodiment. A vehicle according to the present embodiment, wherein the at least one boom is a rigid material closer to the vehicle and a flexible material near the position where the at least one boom interferes with the object. A vehicle according to the present embodiment in which at least one boom moves both horizontally and vertically. A vehicle according to this embodiment in which a sensor is used to measure the height of the vehicle relative to at least one boom. At least one boom can be positioned relative to the vehicle by at least one brace attached to the outer edge of the drone, and at least one brace can be operated via an actuator to control the movement of at least one boom. A vehicle according to this embodiment that can be used. At least one boom is positioned with respect to the vehicle via at least one wire attached to the outer edge of the drone, and at least one wire is operated via an electric wrench located on the drone. A vehicle according to the present embodiment that can control the movement of the boom. The vehicle according to the present embodiment, wherein the at least one boom has at least one sensor on the boom that provides position data to the vehicle. The vehicle according to the present embodiment has at least one boom having multiple outlets for spraying the substance at multiple locations. At least one end of the boom is a vehicle according to this embodiment, including a guided attachment. Dispersion from at least one boom can target a specific area of the object it receives through the targeting system, which is operated via the use of neural networks, the vehicle according to this embodiment. .. Spraying from at least one boom targets the entire object through the use of a system based on targeting specific plants from the row of plants and timing sequences for spraying to each plant within the row of plants. A vehicle according to the present embodiment. A vehicle according to the present embodiment in which a measuring device is located at the outlet of a container and can measure the amount of a substance that moves out of the container over time.

The invention includes a vehicle comprising a container and comprising a lower spraying component capable of connecting to the vehicle at a specific distance under the drone so as to avoid the downward force of air caused by the vehicle. A vehicle according to this embodiment in which at least one boom extends under the lower spraying component. The lower spray component is a vehicle according to the present embodiment having a lower spray component and a sensor capable of determining the height of the ground.

The present invention includes a container capable of carrying a substance and a vehicle having at least one cord capable of spraying a liquid and descending under the vehicle. The vehicle according to the present embodiment in which the thin string is loop-shaped.

The invention is illustrated and described in detail in the drawings and the aforementioned description, but such illustrations and explanations should be considered to be exemplary or exemplary and not limiting. The present invention is not limited to the disclosed embodiments. Other modifications to the disclosed embodiments can be understood and achieved by one of ordinary skill in the art in carrying out the claimed invention from the drawings, disclosures, and studies of the dependent claims.

In the claims, the word "prepare" does not exclude other elements or steps, and the indefinite article "one" or "is" does not exclude more than one. A single processor or other unit may serve the function of several items re-cited in the claims. The mere fact that certain means are re-cited in different dependent claims does not indicate that the combination of these means cannot be used in an advantageous manner. Any reference code in the claims should not be construed as limiting its scope.

10 spray vehicle
20 boom
30 spray unit
40 1st actuator
50 Second actuator
52 First rotator actuator
54 Second rotator actuator
56 Actuator Actuator
58 Spray adjustment actuator
60 sensor
61 Sensor
62 Sensor
63 Sensor
64 sensor
65 sensor
66 sensor
70 processing unit
71 (boom) length
72 First boom
73 horizontal axis
74 vertical axis
75 range
76 range
77 rod
78 Connection
79 Rigidity
80 Flexible
81 brace
82 Actuator
83 Top boom
84 Bottom boom
85 Position sensor
86 Electrostatic nebulizer
87 Static charge
88 Multiple exits
89 Multiple exits
90 Central boom
91 Guided attachment
92 wire or cable
93 Lower spray components
94 boom
95 Central spraying system
96 Exit boom
97 Fine string
98 loop
99 Fine string
100 Imaging system
101 Measuring or weighing device
102 container

Claims (31)

With at least one boom (20),
With multiple spray units (30),
With at least one first actuator (40),
With at least one second actuator (50),
With multiple sensors (60),
A spray vehicle (10) with a processing unit (70).
The at least one boom is movably attached to the vehicle and
The plurality of spray units are attached to the at least one boom.
The plurality of spray units are configured to spray pollen or liquid chemicals.
The at least one first actuator is configured to move the at least one boom.
The at least one second actuator is configured to control the plurality of spray units.
At least one of the plurality of sensors (61) is configured to measure the speed of the vehicle with respect to the ground.
At least one of the plurality of sensors (62) is configured to measure the direction of movement of air with respect to the vehicle.
At least one of the plurality of sensors (63) is configured to measure the rate of movement of air with respect to the vehicle.
The processing unit is configured to determine the direction of movement of air with respect to the ground and the speed of movement of air with respect to the ground, the determination of said speed of the vehicle, the direction of movement of the air with respect to the vehicle and the vehicle. Including the use of the moving speed of the air with respect to
The processing unit is configured to control the at least one first actuator and / or the at least one second actuator, the control being the determined air movement direction with respect to the ground and the said with respect to the ground. A spray vehicle (10) containing the determined air movement rate. The at least one first actuator is configured to move the at least one boom in the vertical direction, and the processing unit moves the at least one boom in the vertical direction. The spray vehicle according to claim 1, which is configured to control the actuator of 1. At least one of the plurality of sensors (64) is configured to provide data capable of determining the height of the at least one boom from the ground, and the processing unit is the said with respect to the ground. 2. Claim 2 configured to control the at least one first actuator to position the at least one boom at a height above the ground that depends on the magnitude of the determined air movement velocity. The spray vehicle described in. The processing unit positions the at least one boom at a height above the ground that depends on the magnitude of the direction angle of the air in the determined air travel direction with respect to the ground. The spray vehicle according to claim 3, which is configured to control an actuator. The spray vehicle according to claim 4, wherein the direction angle of the air is an angle between the determined direction of movement of the air with respect to the ground and the projection of the front-rear axis of the vehicle onto the ground. The spray according to claim 5, wherein the height above the ground on which the at least one boom is positioned is calculated based on the speed of movement of the air relative to the ground multiplied by the cosine of the azimuth of the air. Vehicle. The processing unit moves the at least one boom downward when the magnitude of the determined air movement velocity with respect to the ground exceeds one or more thresholds. The spray vehicle according to any one of claims 3 to 6, which is configured to control an actuator of the above. The one or more thresholds depend on the magnitude of the direction angle of the air, which is the determined direction of movement of the air with respect to the ground and the projection of the vehicle's anterior-posterior axis onto the ground. The spray vehicle according to claim 7, which is an angle between. The one or more thresholds are a plurality of thresholds, and a specific threshold among the plurality of thresholds is calculated based on a set moving speed of air multiplied by the cosine of the direction angle of the air. The spray vehicle according to claim 8. The plurality of spray units are movably attached to the at least one boom, and at least one of the plurality of sensors (65) may determine the angle of the plurality of spray units with respect to a vertical axis. The at least one second actuator (50) is configured to provide possible data and at least one configured to rotate the plurality of spray units by at least one rotation angle with respect to the vertical axis. The processing unit comprises one first rotator actuator (52), the processing unit being one of the at least one first rotator actuator so as to rotate one or more of the plurality of spray units. The spray vehicle according to any one of claims 1 to 9, which is configured to control one or more. The horizontal axis extends in a direction perpendicular to the anteroposterior axis of the vehicle and extends in a direction perpendicular to the vertical axis, and at least one of the plurality of sensors (66). Is configured to provide data capable of determining the angles of the plurality of spray units with respect to the horizontal axis, wherein the at least one second actuator (50) is at least one with respect to the horizontal axis. It comprises at least one second rotator actuator (54) configured to rotate the plurality of spray units by a rotation angle, wherein the processing unit rotates one or more of the plurality of spray units. The spray vehicle according to claim 10, wherein the spray vehicle is configured to control one or more of the at least one second rotator actuators. The processing unit is configured to control a plurality of first rotator actuators to simultaneously hold an equivalent number of spray units at different rotation angles with respect to the vertical axis, claim 10 or 11. The spray vehicle described in. 12. The spray vehicle according to claim 12, wherein the control of the plurality of first rotator actuators depends on the position of the equivalent number of spray units on the at least one boom. The processing units are configured to control a plurality of second rotator actuators to simultaneously hold an equivalent number of spray units at different rotation angles with respect to the horizontal axis, claims 11-13. The spray vehicle according to any one of the above. 14. The spray vehicle according to claim 14, wherein the control of the plurality of second rotator actuators depends on the position of the equivalent number of spray units on the at least one boom. The processing unit simultaneously rotates the plurality of spray units by the same rotation angle with respect to the vertical axis and / or the horizontal axis, so that the at least one first rotator actuator and / or the at least one thereof. The spray vehicle according to claim 10 or 11, which is configured to control two second rotator actuators. The spray vehicle according to any one of claims 10 to 16, wherein control of the at least one second actuator by the processing unit comprises utilizing the magnitude of the determined air movement velocity with respect to the ground. The control of the at least one second actuator by the processing unit according to any one of claims 10 to 17, including utilizing the magnitude of the azimuth angle of the determined air in the direction of movement of the air with respect to the ground. The spray vehicle described. The spray vehicle according to claim 18, wherein the direction angle of the air is an angle between the determined direction of movement of the air with respect to the ground and the projection of the front-rear axis of the vehicle onto the ground. 19. The spray vehicle of claim 19, wherein the at least one rotation angle with respect to the vertical axis is at least to some extent based on the speed of movement of the air with respect to the ground multiplied by the cosine of the azimuth of the air. The at least one second actuator is configured to initiate the plurality of spraying units spraying the pollen or liquid chemicals and stop the plurality of spraying units from spraying the pollen or liquid chemicals. The spray vehicle according to any one of claims 1 to 20, comprising at least one actuating actuator (56) configured to do so. The processing unit is such that at least one such that an equivalent number of spraying units stop spraying the pollen or liquid chemicals, at least to some extent, based on the magnitude of the determined air movement rate to the ground. 21. The spray vehicle of claim 21, configured to control one or more of the actuating actuators. The treatment unit is such that an equivalent number of spray units stop spraying the pollen or liquid chemicals, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. The spray vehicle according to claim 21 or 22, wherein the spray vehicle is configured to control one or more of the at least one actuating actuator. 23. The spray vehicle according to claim 23, wherein the direction angle of the air is an angle between the determined direction of movement of the air with respect to the ground and the projection of the front-rear axis of the vehicle onto the ground. 24. The spray vehicle according to claim 24, wherein the determination to stop spraying the spray unit is based at least to some extent on the speed of movement of the air with respect to the ground multiplied by the cosine of the direction angle of the air. The at least one second actuator comprises at least one spray adjusting actuator (58) configured to control the droplet size of the pollen or liquid chemical sprayed by the plurality of spray units. The spray vehicle according to any one of 1 to 25. The processing unit controls the size of the droplets of the pollen or liquid chemical sprayed by an equivalent number of spraying units, at least to some extent, based on the magnitude of the determined air movement rate to the ground. 26. The spray vehicle of claim 26, configured to control one or more of the at least one spray adjusting actuators. 27. The spray vehicle of claim 27, wherein the processing unit is configured to increase the droplet size based on the increase in the magnitude of the determined air movement velocity with respect to the ground. The processing unit measures the droplet size of the pollen or liquid chemical sprayed by an equivalent number of spraying units, at least to some extent, based on the magnitude of the air direction angle in the determined air movement direction with respect to the ground. The spray vehicle according to any one of claims 26 to 28, which is configured to control one or more of the at least one spray adjusting actuators so as to control. 29. The spray vehicle according to claim 29, wherein the direction angle of the air is an angle between the determined direction of movement of the air with respect to the ground and the projection of the front-rear axis of the vehicle onto the ground. 30. The spray vehicle of claim 30, wherein the droplet size is determined based at least to some extent on the speed of movement of the air with respect to the ground multiplied by the cosine of the azimuth of the air.

Images